A method for accurate map construction using time registration from a moving SOKUIKI sensor

Hirohiko Kawata, Tatsuro Ueda, Tetsuo Tomizawa, Akihisa Ohya, Shin'Ichi Yuta

Research output: Contribution to journalArticle

1 Citation (Scopus)


Mobile robots have various sensors that are considered as their eyes and a two-dimensional laser scanner (SOKUIKI sensor) is one of them. This sensor is commonly used for constructing environment maps or detecting obstacles. It is very important to estimate accurately the sensor's position and direction when scan data is obtained in order to use correctly such a sensor for these purposes. On the other hand, scanning sensors have an essencial problem: time lag. That is, the time when the laser is transmitted to each direction is different. Thus the map has many errors if the measurement time lag problem is not resolved. This paper presents a method for laser scan data synchronization using time registration and, as a practical application, we show its effectiveness for accurate map construction.

Original languageEnglish
Pages (from-to)69-83
Number of pages15
JournalAdvanced Robotics
Issue number1-2
Publication statusPublished - 2010 Jan 1



  • Range data map
  • SOKUIKI sensor
  • Synchronous
  • Timing registration

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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